robot = Robot([10, 10, 0])
poles = []
num_poles = 5
for i in range(num_poles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
poles += [Pole([x, y, 0])]
particles = []
num_particles = 100
for i in range(num_particles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
theta = r.uniform(0, math.pi * 2)
particles += [Particle([x, y, theta])]
plot(robot, particles, poles)
moves = []
for i in range(60):
if i < 10:
moves += [[5, 0]]
continue
if i < 20:
moves += [[5, math.pi / 10]]
continue
if i < 30:
moves += [[-3, -math.pi / 20]]
continue
if i < 35:
moves += [[10, 0]]
continue
robot = Robot([10, 10, 0])
poles = []
num_poles = 5
for i in range(num_poles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
poles += [Pole([x, y, 0])]
particles = []
num_particles = 100
for i in range(num_particles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
theta = r.uniform(0, math.pi * 2)
particles += [Particle([x, y, theta])]
plot(robot, particles, poles)
moves = []
for i in range(60):
if i < 10:
moves += [[5, 0]]
continue
if i < 20:
moves += [[5, math.pi / 10]]
continue
if i < 30:
moves += [[-3, -math.pi / 20]]
continue
if i < 35:
moves += [[10, 0]]
from filter2d import Robot, Particle, Pole, resample_particles
import random as r
import math
r.seed(939)
robot = Robot([50, 50, 0])
poles = []
num_poles = 5
for i in range(num_poles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
poles += [Pole([x, y, 0])]
particles = []
num_particles = 100
for i in range(num_particles):
x = r.uniform(0, 100)
y = r.uniform(0, 100)
theta = r.uniform(0, math.pi * 2)
particles += [Particle([x, y, theta])]
plot(robot, particles, poles)
robot.measure(poles)
for i in range(20):
for particle in particles:
particle.measure(poles)
particle.update_weight(robot.measurements)
print_particle_error(robot, particles)
particles = resample_particles(particles)
plot(robot, particles, poles, j=i, autorun=True)
from sim.plot2d import plot
from filter2d import Robot, Particle, Pole
import random as r
import math
robot = Robot([50, 50, 0])
poles = [
Pole([90, 90, 0]),
Pole([80, 50, 0]),
Pole([50, 70, 0]),
Pole([25, 50, 0])
]
print("Robot Measurements:")
robot.measure(poles)
for measurement in robot.measurements:
print("Distance: " + str(round(measurement.distance, 1)) + " Angle: " +
str(round(measurement.angle, 2)))
print()
print("Measurement Answers:")
print("Distance: 56.6 Angle: 0.79")
print("Distance: 30.0 Angle: 0.0")
print("Distance: 20.0 Angle: 1.57")
print("Distance: 25.0 Angle: 3.14")
plot(robot, poles=poles)
import random as r
import math
robot = Robot([50, 50, 0])
poles = [Pole([25, 25, 0])]
# Probably comment for real assignment.
poles += [Pole([25, 50, 0])]
particles = []
particles += [Particle([50, 50, 0])]
particles += [Particle([50, 50, math.pi / 8])]
particles += [Particle([75, 75, 0])]
particles += [Particle([55, 55, -math.pi / 4])]
particles += [Particle([45, 35, 0])]
robot.measure(poles)
for particle in particles:
particle.measure(poles)
particle.update_weight(robot.measurements)
print("Weight: " + str(round(particle.weight, 2)))
for measure in particle.measurements:
print("Measurements: " + str(round(measure.distance, 2)))
print()
print("Answers:")
print("Weight: 1.0")
print("Weight: 0.54")
print("Weight: 0.0")
print("Weight: 0.12")
print("Weight: 0.25")
plot(robot, particles, poles)